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LandDetector: Fixed some typos and magic constant

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Johan Jansen
2015-01-15 14:37:51 +01:00
parent b5c7c6a15b
commit eefbf366fb
3 changed files with 4 additions and 5 deletions
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src/modules/fw_land_detector/FixedwingLandDetector.h
+1 -2
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@@ -33,10 +33,9 @@
/** /**
* @file FixedwingLandDetector.h * @file FixedwingLandDetector.h
* Land detection algorithm for multicopters * Land detection algorithm for fixedwing
* *
* @author Johan Jansen <jnsn.johan@gmail.com> * @author Johan Jansen <jnsn.johan@gmail.com>
* @author Morten Lysgaard <Morten@mycptr.com>
*/ */
#ifndef __FIXED_WING_LAND_DETECTOR_H__ #ifndef __FIXED_WING_LAND_DETECTOR_H__
src/modules/mc_land_detector/MulticopterLandDetector.cpp
+3 -2
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@@ -147,6 +147,7 @@ void MulticopterLandDetector::landDetectorLoop()
//Check if we are moving vertically //Check if we are moving vertically
bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > MC_LAND_DETECTOR_CLIMBRATE_MAX; bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > MC_LAND_DETECTOR_CLIMBRATE_MAX;
//Check if we are moving horizontally
bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n*_vehicleGlobalPosition.vel_n bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n*_vehicleGlobalPosition.vel_n
+ _vehicleGlobalPosition.vel_e*_vehicleGlobalPosition.vel_e) > MC_LAND_DETECTOR_VELOCITY_MAX; + _vehicleGlobalPosition.vel_e*_vehicleGlobalPosition.vel_e) > MC_LAND_DETECTOR_VELOCITY_MAX;
@@ -165,8 +166,8 @@ void MulticopterLandDetector::landDetectorLoop()
} }
// if we have detected a landing for 2 continious seconds // if we have detected a landing for 2 continuous seconds
if(now-_landTimer > 2000000) { if(now-_landTimer > MC_LAND_DETECTOR_TRIGGER_TIME) {
if(!_landDetected.landed) if(!_landDetected.landed)
{ {
_landDetected.timestamp = now; _landDetected.timestamp = now;
src/modules/mc_land_detector/MulticopterLandDetector.h
-1
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@@ -50,7 +50,6 @@
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
//TODO: add crash detection to this module?
class MulticopterLandDetector { class MulticopterLandDetector {
public: public:
MulticopterLandDetector(); MulticopterLandDetector();